horus-robotics 0.1.7

Simple & intuitive Python API for HORUS robotics framework - ultra-low latency IPC and real-time scheduling

HORUS Robotics - Python Bindings

Ultra-low latency robotics framework with Python bindings - 100x faster than ROS2.

HORUS is a production-grade robotics framework built in Rust, delivering 87ns IPC latency and 12M+ messages/second throughput. This package provides native Python bindings via PyO3.

Installation

pip install horus-robotics

Quick Start

import horus

# Create a publisher
pub = horus.Publisher("sensor.data")

# Create a subscriber
sub = horus.Subscriber("sensor.data")

# Publish data
pub.publish({"temperature": 25.5, "humidity": 60})

# Receive data
data = sub.receive()
print(data)

Features

• Ultra-Low Latency: 87ns IPC latency (100x faster than ROS2)
• High Throughput: 12M+ messages/second
• Zero-Copy: Shared memory transport for maximum performance
• Type-Safe: Strong typing with Pydantic-like validation
• Cross-Language: Seamless interop with Rust and C++ nodes
• Real-Time Ready: Priority-based scheduling with deadline guarantees

Core Components

Publisher/Subscriber (Hub)

Multi-producer multi-consumer pub/sub with ~481ns round-trip latency:

import horus

# Publisher
pub = horus.Publisher("robot.commands")
pub.publish({"velocity": [1.0, 0.0, 0.0]})

# Subscriber
sub = horus.Subscriber("robot.commands")
msg = sub.receive(timeout_ms=100)

Point-to-Point (Link)

Single-producer single-consumer for lowest latency (~248ns):

sender = horus.LinkSender("fast.channel")
receiver = horus.LinkReceiver("fast.channel")

sender.send(data)
data = receiver.recv()

Nodes

Create custom processing nodes:

import horus

class SensorNode(horus.Node):
    def __init__(self):
        super().__init__("sensor_node")
        self.pub = horus.Publisher("sensor.data")

    def tick(self):
        reading = self.read_sensor()
        self.pub.publish(reading)

# Run the node
node = SensorNode()
horus.run(node, rate_hz=100)

Message Types

HORUS provides standard robotics message types:

from horus.messages import (
    Twist,           # Velocity commands
    Pose,            # Position + orientation
    Image,           # Camera images
    PointCloud,      # 3D point clouds
    JointState,      # Robot joint positions
    LaserScan,       # LIDAR data
    Imu,             # IMU readings
    NavSatFix,       # GPS coordinates
    WrenchStamped,   # Force/torque sensor
)

Performance Comparison

Framework	IPC Latency	Throughput
HORUS	87ns	12M+ msg/s
ROS2 (FastDDS)	50-100us	~100K msg/s
ZeroMQ	10-30us	~1M msg/s

Documentation

• Full Documentation: docs.horus-registry.dev
• Getting Started: Installation Guide
• API Reference: Python API
• Examples: GitHub Examples

Requirements

• Python 3.9+
• Linux (x86_64)
• glibc 2.39+

Related Packages

• horus - Full HORUS framework (Rust CLI + runtime)
• horus-library - Standard message types and nodes

License

Apache-2.0 - see LICENSE

Links

• GitHub: github.com/softmata/horus
• Discord: Join Community
• Documentation: docs.horus-registry.dev